EP3476782A1 - Device for transferring objects and method - Google Patents

Abstract

Device for transferring an object (2), such as blister packs, from a supply point to a conveyor, by means of which the article can be transported away in a transport direction (5a), with a gripping device (6) having a plurality of, in two parallel, at a distance from each other Having rows juxtaposed gripping elements, wherein between the rows of gripping elements is a passage opening in the gripping device (6), which is wider than a width of the conveyor, orthogonal to the conveying direction (5a) in the region of a storage space seen, so that the rows of Gripping elements on both sides of the conveyor on each side of the conveyor for the transfer of the article (2) are movable past the conveyor.

Description

The present invention relates to a device for transferring objects and in particular flat objects, such as blister packs. Devices are known from the prior art that can convert blister packs from a dispensing location to a storage location. The patent DE 10 2011 100 353 B4 discloses a device which can move a gripping device between the dispensing location and the storage space via a pivot axis and a linear drive. The storage space is part of a conveyor, which consists of two spaced conveyor tracks, so that the gripping device can move between the two conveyor tracks and, for example, one or more blister pack (s) can pass in a continuous motion.

From the prior art, various disadvantages. The conveyor often extends over a relatively long distance, thus requiring a conveyor with two spaced conveyor tracks a high investment costs. The device for moving the gripping device also allows only limited movement, so that the system is inflexible and small changes, for example, at the delivery point, can make costly reconstruction necessary.

The present invention is intended to provide a device by means of which objects, in particular flat objects, in particular blister packs, can be moved flexibly and with little outlay of equipment from a dispensing station or a provisioning station to a storage location formed by a conveyor.

According to the present invention, there is provided a device for transferring articles according to claim 1. The objects, in particular flat objects such as blister packs, can be converted from a provisioning point to a storage place, with a conveying device having or forming the storage space, by means of which the articles can be transported away in a transport direction. A gripping device has a plurality of gripping elements arranged next to one another in two rows, wherein a row of gripping elements can each be held on one of two parallel gripper fingers arranged at a mutual distance. A positioning device may position the gripping device in a first position for receiving the articles at the delivery location and at a second position for delivering the articles to the storage location. There is a passage opening between the rows of gripping elements of the gripping device, which can have a defined by the distance between the gripper fingers width.

The described invention offers the advantage that the gripping device has two spaced-apart rows of gripping elements in order to implement the articles in a continuous movement. The gripping device is much smaller than the known conveyors, which is why this design causes less effort than in the prior art. The conveyor, however, can either have a single conveyor track for transporting the objects or a plurality of conveyor tracks, which are arranged at a small distance from each other. When transferring the objects from the gripping device to the conveyor, the rows of gripping elements of the gripping device are guided past this on both sides of the conveying direction. For this purpose, the rows are orthogonal to a holding surface, which is formed by the gripping elements, as far apart that one end of the conveyor can pass through the passage opening of the gripping device. Preferably, the holding surface of the gripping device is arranged orthogonal to the movement direction of the gripping device, while the gripping device is guided along the conveyor. The rows of gripping elements can run parallel to the conveying direction of the conveyor. The width direction of Passage opening is then advantageously formed parallel to the holding surface and orthogonal to the rows of gripping elements and the conveying direction, so that the passage opening can be moved across the end of the conveyor.

The delivery point can be a delivery point at the end of a conveyor unit, where the objects are delivered one after the other or next to each other, for example in the form of blister packs. The preferably flat objects can lie horizontally with their flat surface, stand vertically or have any inclination. The gripping device can receive the objects at the supply point in the first position, can be pivoted from the positioning device to the second position and deliver the articles there at a storage location to the conveyor. For holding the objects, the gripping device may comprise two rows of suction cups, which serve as gripping elements. If the gripping elements are designed as suction cups, the suction force can be generated by means of a negative pressure, which can be switched on for picking up the objects and can be switched off for dispensing the objects. Alternatively, the gripping device can be continuously subjected to negative pressure.

The conveyor may have one or more storage spaces, wherein each storage space preferably has a plurality of contact points for the objects. The contact points for the objects can be designed as suction cups. The conveyor may have one or more conveyor tracks on which the contact points for the objects are formed or in which the contact points for the objects are integrated. In this case, each conveyor belt have a storage space-side deflection device, via which the conveying direction of the conveyor belt is deflected, wherein the deflection preferably deflects the conveyor belt about a horizontally oriented deflection axis by 180 °, so that when a contact point runs in the direction of the storage space on the top of the conveyor belt She walks off the shelf on the bottom of the conveyor belt.

The gripping device may be U-shaped, wherein a transverse web may be a connecting strut which connects two mutually parallel, rod-shaped elements of the gripping device with each other, wherein the gripping elements are arranged on these two rod-shaped elements, such as gripper fingers. The gripping elements can be integrated in the rod-shaped elements or gripper fingers. A clearance between the two rod-shaped elements of the gripping device represents a passage opening, which must be at least so large that the conveyor can be guided through the passage opening. As described above, the gripping device is moved past the depositing places. Preferably, the gripping elements are arranged in one or more pairs, each pair comprising two gripping elements, which are arranged across the passage opening across each other.

For moving the gripping device, a positioning device is provided. The positioning device has at least one pivot axis about which the gripping device is pivotable. Preferably, the or at least one pivot axis is aligned orthogonal to the conveying direction of the conveyor, in particular horizontally.

In a further preferred embodiment of the invention, the rows of gripping elements of the gripping device of the device for transferring the objects to the conveyor are aligned parallel to the longitudinal axis of the conveyor. Thus, it can be ensured that each pair of gripping elements of the gripping device are associated with one or more receiving points of the conveyor, which can take over the objects. In particular, when using suction cups, it is advantageous if all contact points get a contact with a flat surface of the objects.

In a further preferred embodiment of the invention, the passage opening has a longitudinal axis and the longitudinal axis is arranged parallel to the two rows of gripping elements and, when the gripping device is in the second position, substantially parallel to the longitudinal axis of the conveyor.

In a further embodiment, the conveyor may have at least two spaced-apart contact points for the objects at the storage location. In order to ensure a firm hold of the objects on the conveyor, it may be advantageous to provide at least two contact points per object. Preferably, these are in a row next to each other in contact with the object. At the moment of the transfer of the object from the gripping device to the conveyor, two abutment points of the conveyor can lie on a straight line perpendicular to the conveying direction of the conveyor with two gripping elements of the gripping device.

In a preferred embodiment of the invention, the conveyor extends in a horizontal direction, and the gripping device is by the positioning transverse to, in particular vertically, for example from bottom to top, on the conveyor over movable.

The first pivot axis may be aligned parallel to an abutment plane defined by the conveyor, and is preferably arranged perpendicular to the longitudinal axis of the conveyor.

Each of the pivot axes can have a separate drive, preferably a stepper motor, by means of which a pivoting movement can be generated. Alternatively, a drive can drive a plurality of arms and / or the gripping device simultaneously. Preferably, the movement is determined by a controller. The controller can be implemented in the hardware, for example as a transmission.

Thus, a single motor can be provided with which a positively controlled movement of the first arm, the second arm and / or the gripping device can be generated via a transmission.

The gripping elements of the gripping device can be mechanical or magnetic gripping means or suction means.

The conveyor may have a suction belt or mutually parallel suction belts. The contact points for the objects on the suction belts can be designed in the form of Saugnapfreihen.

The gripping device may be substantially U-shaped. The rows of gripping device may be substantially parallel to each other and connected to each other by means of a connecting web. The connecting web preferably has no depositing places for objects and is guided past an end face or an end of the conveying device when the gripping device is brought past the conveying device.

In a preferred embodiment, the staging area is one end of a conveyor unit. Alternatively, it is a magazine for the provision of objects. The articles may preferably be arranged at the point of supply in a plane which is orthogonal to the abutment plane in the storage location.

1. a) Bereitstellen einer Vorrichtung nach der Erfindung und Bereitstellen der Bereitstellungsstelle (3);
2. b) Bewegen der Greifeinrichtung (6) zu der Bereitstellungsstelle (3) und Greifen des Gegenstands mittels der Greifeinrichtung (6);
3. c) Schwenken des ersten Auslegers (18a) um die erste Schwenkachse (10a);
4. d) Rotieren der Greifeinrichtung (6) um die dritte Schwenkachse (10c);
5. e) Entlangbewegen der Greifeinrichtung (6) an der Fördereinrichtung (5), wobei eine Reihe (6a) von Greifelementen der Greifeinrichtung (6) auf einer Seite der Fördereinrichtung (5) vorbeigeführt wird und die andere Reihe (6a) auf der gegenüberliegenden Seite,
6. f) Übergeben des Gegenstands (2) von der Greifeinrichtung (6) an die Fördereinrichtung (5) ,
7. g) Abtransportieren des Gegenstands (2) mittels der Fördereinrichtung (5);

Bevorzugt weist ein solches Verfahren anschließend an Schritt c) weiterhin den Schritt auf:
Schwenken eines zweiten Auslegers (18b) um eine zweite Schwenkachse (10b), wobei durch ein koordiniertes Schwenken des ersten Auslegers (18a) und des zweiten Auslegers (18b) eine im Wesentlichen translatorische Bewegung der Greifeinrichtung (6) bei der Übergabe des Gegenstands (2) von der Greifeinrichtung (6) an die Fördereinrichtung (5) erzeugt wird.An inventive method for converting objects comprises the following steps:

1. a) providing a device according to the invention and providing the providing site (3);
2. b) moving the gripping device (6) to the provisioning point (3) and gripping the object by means of the gripping device (6);
3. c) pivoting the first arm (18a) about the first pivot axis (10a);
4. d) rotating the gripping device (6) about the third pivot axis (10c);
5. e) moving the gripping device (6) along the conveying device (5), wherein a row (6a) of gripping elements of the gripping device (6) is guided past on one side of the conveying device (5) and the other row (6a) on the opposite side,
6. f) transferring the object (2) from the gripping device (6) to the conveying device (5),
7. g) transporting the object (2) by means of the conveyor (5);

Preferably, such a method further comprises the step following step c):
Pivoting a second arm (18b) about a second pivot axis (10b), wherein by a coordinated pivoting of the first arm (18a) and the second arm (18b) a substantially translational movement of the gripping device (6) during the transfer of the object (2 ) is generated by the gripping device (6) to the conveyor (5).

• Fig. 1 eine perspektivische Ansicht einer erfindungsgemäßen Vorrichtung schräg von vorn zeigt,
• Fig. 2 die Vorrichtung nach Fig. 1 aus einer ersten Richtung schräg von hinten zeigt,
• Fig. 3 die Vorrichtung nach Fig. 1 aus einer zweiten Richtung schräg von hinten zeigt,
• Fig. 4a einen Ausschnitt aus einem Arbeitszyklus der Vorrichtung beim Umsetzen eines Gegenstands zeigt,
• Fig. 4b einen weiteren Ausschnitt aus einem Arbeitszyklus der Vorrichtung beim Umsetzen eines Gegenstands zeigt,
• Fig. 4c einen weiteren Ausschnitt aus einem Arbeitszyklus der Vorrichtung beim Umsetzen eines Gegenstands zeigt,
• Fig. 4d einen weiteren Ausschnitt aus einem Arbeitszyklus der Vorrichtung beim Umsetzen eines Gegenstands zeigt,
• Fig. 4e einen weiteren Ausschnitt aus einem Arbeitszyklus der Vorrichtung beim Umsetzen eines Gegenstands zeigt und
• Fig. 4f einen weiteren Ausschnitt aus einem Arbeitszyklus der Vorrichtung beim Umsetzen eines Gegenstands zeigt.

The invention will be explained with reference to an embodiment, reference being made to a drawing in which

• Fig. 1 shows a perspective view of a device according to the invention obliquely from the front,
• Fig. 2 the device after Fig. 1 from a first direction pointing diagonally from behind,
• Fig. 3 the device after Fig. 1 from a second direction pointing diagonally from behind,
• Fig. 4a shows a section of a working cycle of the device during the transfer of an object,
• Fig. 4b shows a further section of a working cycle of the device during the transfer of an object,
• Fig. 4c shows a further section of a working cycle of the device during the transfer of an object,
• Fig. 4d shows a further section of a working cycle of the device during the transfer of an object,
• Fig. 4e shows a further section of a working cycle of the device during the transfer of an object and
• Fig. 4f shows a further section of a working cycle of the device during the transfer of an object.

The device according to the invention, which in Fig. 1 to 3 is shown in detail, includes a generally U-shaped gripping device 6, a conveyor 5 and a positioning device 9, on which the gripping device 6 is held and with which it is pivotable between a first position and a second position.

The positioning device 9 has a first arm 18a, which is held pivotable about a first pivot axis 10a, wherein the first pivot axis 10a is fixedly formed on a base frame. The first boom 18a carries a second boom 18b pivotable relative to the first boom 18a about a second pivot axis 10b formed on the first boom 18a. The second pivot axis 10b is arranged parallel and at a predetermined distance from the first pivot axis 10a. On the second arm 18b, the gripping device 6 is pivotally held about a third pivot axis 10c, wherein the third pivot axis 10c is disposed at a predetermined distance from and perpendicular to the first pivot axis 10a and the second pivot axis 10b.

To effect a pivotal movement of the first boom 18a about the first pivot axis 10a, the second arm 18b about the second pivot axis 10b, and the gripping device 6 about the third pivot axis 10c, a single motor may be provided which drives a mechanical gearbox which is integral with the arms 18a , 18b and the gripping device 6 is connected and causes a positively controlled movement, or it can be provided for controlled drive a desired combined pivoting movement two or three motors, in particular one per pivot axis. In this case, a control is provided, with which the two or three motors are connected and which causes a coordinated movement of the gripping device 6 between the first and the second position.

Fig. 1 indicates an object 2, for example, a blister pack, wherein the object 2 is shown in the first position A, from which it is to implement in the second position B. Fig. 3 indicates an object 2 in the second position B, in which the object is located on the conveyor 5.

The gripping device 6 has two rows 6a of gripper elements 7, which are arranged parallel to each other on a gripper finger at a mutual distance from each other, wherein a passage opening 16 is formed with a longitudinal axis 16a between the gripper fingers. This passage opening or the distance between the gripper fingers is sufficiently large that the gripping device 6 can be moved over an end portion of the conveyor 5, wherein the end portion of the conveyor 5 is temporarily between the gripper fingers and thus between the rows 6a of the gripping elements 7 and one of the gripping device 6 gripped object 2 is automatically or forcibly passed to the conveyor 5 when moving past. The conveyor is provided with holding means, for example with suction, gripping or magnetic means to hold the objects.

Fig. 4a to f explain the conversion of an object with a device according to the invention from the first position A (provision point) to the second position B (storage position). By way of example, a blister pack is considered to be the object 2, wherein a number of blister packs are conveyed in series to the first position A by means of a conveying device (not shown) and provided there. In the illustrated example, the gripping device 6 engages an object during each transfer operation, this extending with its longitudinal direction parallel to the longitudinal axis 16a of the passage opening 16, or in other words parallel to the rows 6a of the gripping elements 7 of the gripping device 6. Alternatively, several objects are provided and gripped in an orientation perpendicular to the orientation shown, wherein the gripping device 6 simultaneously grips and converts a plurality of parallel juxtaposed articles with transversely extending passage opening. Figure 1 to 3 show six gripping elements per row, so that up to six objects could be detected and implemented simultaneously. Each object is to be gripped by a pair of gripping elements, which lie opposite each other via the passage opening.

FIG. 4a shows the gripping device 6 in contact with a blister pack 2 in the first position A. The second boom 18b has been pivoted by means of the first arm 18a in such a position that the third pivot axis 10c is oriented perpendicular to an alignment plane 2a of the blister pack 2, so that the gripping elements 7 are also in the alignment plane and can capture this well. The alignment plane 2a is vertical in the illustrated example and is perpendicular to a fixed plane 5c of the conveyor 5, in which the objects 2 are transferred to the conveyor 5 and are held by the conveyor 5, while they are transported away. The abutment plane 5c is preferably horizontal.

Fig. 4b shows the decrease of the object 2 from the first position A and the beginning of a combined pivotal movement about the first pivot axis 10a and the second pivot axis 10b, whereby in addition to a pure pivoting movement and a translational movement of the gripping device 6 is generated.

Fig. 4c shows a rotation of the gripping device 6 about the third pivot axis 10c by 90 °, so that the longitudinal axis 16a of the passage opening 16 of the gripping device 6 is parallel to the longitudinal axis 5b of the conveying device 5, or at least parallel to a vertical plane containing the longitudinal axis 5b. At the same time a further pivoting movement takes place about the first and second pivot axis.

Fig. 4d shows the transfer of the article 2 to the conveyor 5, wherein a gripping plane 6a of the gripping device 6 is located substantially in the contact plane 5c of the conveyor 5.

Fig. 4e shows how the object 2 has been taken over by the conveyor 5 and the gripping device 6 by corresponding pivoting of the second arm 18b and possibly also the first arm 18a, the conveyor 5 between them receiving, is moved past this upwards. As a result of the gripping device 6 being moved upwards, the object 2 is automatically released from the gripping device 6 and transferred to the conveying device 5.

Fig. 4f shows the return movement of the gripping device 6 in the direction of the first position A according to Fig. 4a , Again, the gripping device 6 is moved past the conveyor 5 so that the two rows 6a of gripping elements 7 pass by on both sides of the conveyor 5.

Claims (15)

Device for transferring an object or at the same time several objects, such as blister packs (2), from a supply point (3) to a storage place (4), with a conveying device (5) having the storage place (4), by means of which the articles are conveyed in a transport direction ( 5a) are transportable,
with a gripping device (6) which has a plurality of gripping elements (7) arranged side by side in two parallel, spaced-apart rows (6a),
and with a positioning device (9) by means of which the gripping device (6) for picking up the objects can be positioned at the provision site (3) for dispensing the articles at the storage location (4),
wherein between the rows (6a) of gripping elements (7) there is a passage opening (16) in the gripping device (6) which is wider than a width of the conveyor (5) orthogonal to the conveying direction (5a) in the region of the depositing place (4). seen, is;
wherein the rows (6a) of gripping elements (7) on both sides of the conveyor (5) on each side of the conveyor (5) are movable past by the positioning device (9), and
wherein the gripping device (6) is positioned opposite the at least one object (2) by means of the positioning device (9) between a first position in which the rows (6a) of gripping elements (7) for receiving at least one object at the supply point (3) and a second position, in which the rows (6a) of gripping elements (7) for transferring the article or objects to the conveyor (5) in the transport direction (5a) extend and the storage space (4) are opposite, pivotable. Apparatus according to claim 1, characterized in that the positioning device (9) further comprises a second arm (18b) pivotably mounted on the first arm (18a) about a second pivot axis (10b), the second pivot axis (10b) being parallel to the first pivot axis Pivot axis (10 a) is arranged and the gripping device (6) on the second arm (18 b) about the third, perpendicular to the first pivot axis (10 a) arranged pivot axis (10 c) is pivotally mounted. Apparatus according to claim 1 or 2, characterized in that the rows (6a) of gripping elements (7) in the second position for transferring the objects to the conveyor (5) are aligned parallel to the longitudinal axis (5b) of the conveyor (5). Device according to one of the preceding claims, characterized in that by means of a coordinated pivoting movement of the first arm (18a) about the first pivot axis (10a) and the second arm (18b) about the second pivot axis (10b), the gripping device (6) is translationally movable , Device according to one of the preceding claims, characterized in that the conveyor (5) at the storage place (4) at least two transversely to the longitudinal axis (5b) spaced apart contact points for the objects. Device according to one of the preceding claims, characterized in that the first pivot axis (10a) to a fixed by the conveyor (5) bearing plane (5c) is aligned parallel and perpendicular to the longitudinal axis (5b) of the conveyor (5) can be arranged. Device according to one of the preceding claims, characterized in that with respect to the or each pivot axis (10a, 10b, 10c), a motor is provided, by means of which a pivoting movement can be generated. Device according to one of claims 1 to 6, characterized in that a single motor is provided, with which a positively controlled movement of the first arm (18a), the second arm (18b) and / or the gripping device (6) can be generated via a transmission , Device according to one of the preceding claims, characterized in that the gripping elements (7) of the gripping device (6) are mechanical or magnetic gripping means or suction means. Device according to one of the preceding claims, wherein the conveying device (5) comprises holding means for the objects, which can be formed by suction elements, gripping elements or magnetic elements, in particular by mutually parallel suction belts (15) on which the contact points for the objects are formed, in the form of Saugnapfreihen. Device according to one of the preceding claims, wherein the conveying device (5) extends in a horizontal direction, and the gripping device (6) by the positioning device (9) transversely thereto, in particular vertically on the conveyor over past. Device according to one of the preceding claims, characterized in that the gripping device (6) is substantially U-shaped, wherein the rows (6a) of gripping elements (7) are substantially parallel to each other and connected to each other by means of a connecting web. Device according to one of the preceding claims, characterized in that the supply space (3) is an end of a conveyor unit or a magazine for the provision of objects (2) and wherein the objects (2) at the supply station (3) are arranged in a plane which is orthogonal to the abutment plane (10c) in the storage space (4). Method for transferring articles with a device according to one of the preceding claims, characterized by the steps: a) providing an item (2) at a delivery point (3); b) moving the gripping device (6) to the provisioning point (3) and gripping the object by means of the gripping device (6); c) pivoting the first arm (18a) about the first pivot axis (10a); d) rotating the gripping device (6) about the third pivot axis (10c); e) moving the gripping device (6) along the conveyor (5), whereby a row (6a) of gripping elements (7) is guided past on one side of the conveyor (5) and the other row on the opposite side, f) transferring the object (2) from the gripping device (6) to the conveying device (5), g) transporting the article (2) by means of the conveyor (5). A method according to claim 14, characterized by a further step subsequent to step c):
Pivoting a second arm (18b) about a second pivot axis (10b), wherein by a coordinated pivoting of the first arm (18a) and the second arm (18b) a translational movement of the gripping device (6) in the transfer of the object (2) the gripping device (6) to the conveyor (5) is generated.

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